Lifting support device and method of controlling operation

ABSTRACT

A method of controlling operation of a linear actuator, including maintaining the linear actuator in equilibrium when supporting a first load, determining application of a second load on the linear actuator, and selectively actuating the linear actuator in response to application of the second load on the linear actuator.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional and claims priority to Ser. No.15/138,710, filed Apr. 26, 2016, and entitled LIFTING SUPPORT DEVICE ANDMETHOD OF CONTROLLING OPERATION, which is hereby incorporated byreference in its entirety.

BACKGROUND

The field of the present disclosure relates generally to monopod supportdevices and, more specifically, to a lifting support device capable ofsingle-handed actuation.

A variety of loads are typically lifted and set down by hand duringinstallation, inspection, and repair processes, for example. When theload has a weight greater than a nominal value, repetitively lifting andsetting down the load can result in muscle strain and fatigue. Moreover,requiring a technician to manually lift heavy loads increases theworkload of the technician, thereby resulting in more frequent breaks,unfocused labor, and potentially poor quality work. At least some knownsupport devices are available for supporting loads, and for enabling atechnician to easily lift and access the loads. For example, one knownsupport device is actuatable by a suitable power source to assist thetechnician in lifting heavy loads. More specifically, the support deviceincludes an actuating trigger that, when released, causes the supportdevice to hold the supported load in a static position. When pressed,the actuating trigger enables the technician to change the elevation ofthe load. However, when controlling the support device, the techniciantypically needs one hand to activate the actuating trigger, and theother hand to control the rate of elevation of the support device.

BRIEF DESCRIPTION

In one aspect, a lifting support device is provided. The lifting supportdevice includes a linear actuator including a first end configured tosupport an object, and a load sensor positioned to determine applicationof a first load on the load sensor by at least the object. The linearactuator is maintained in equilibrium when supporting the first load.The lifting support device further includes a controller coupled incommunication with the load sensor, and the controller is configured toselectively actuate the linear actuator in response to application of asecond load on the load sensor.

In another aspect, a method of controlling operation of a linearactuator is provided. The method includes maintaining the linearactuator in equilibrium when supporting a first load, determiningapplication of a second load on the linear actuator, and selectivelyactuating the linear actuator in response to application of the secondload on the linear actuator.

In yet another aspect, a computer-readable storage media havingcomputer-executable instructions embodied thereon for use in controllingoperation of a linear actuator is provided. When executed by at leastone processor, the computer-executable instructions cause the processorto maintain the linear actuator in equilibrium when supporting a firstload, determine application of a second load on the linear actuator, andselectively actuate the linear actuator in response to application ofthe second load on the linear actuator.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an exemplary lifting support device;

FIG. 2 is an enlarged perspective view of an exemplary actuationassembly that may be used with the lifting support device shown in FIG.1; and

FIG. 3 is a schematic illustration of an exemplary electronics assemblythat may be used with the actuation assembly shown in FIG. 2.

DETAILED DESCRIPTION

The implementations described herein relate to a lifting support devicecapable of single-handed actuation. More specifically, the liftingsupport device described herein is capable of detecting external loadsapplied thereto, and responsively adjusting its height based on theexternal loads. For example, the lifting support device includes acontroller that controls operation of a linear actuator supporting anobject (i.e., a first load), such as a tool or other handheld device.The controller maintains the linear actuator in equilibrium when onlythe first load is applied to the linear actuator. Conversely, thecontroller selectively actuates the linear actuator in response toapplication of an external second load on the linear actuator. Forexample, in one implementation, the second load is induced by atechnician pulling up or pushing down on the object for selective useand positioning thereof. As such, a length of the linear actuator isonly modified when an external load is applied thereto, therebyproviding a lifting and support tool that is effective and easy to use.

As used herein, an element or step recited in the singular and proceededwith the word “a” or “an” should be understood as not excluding pluralelements or steps, unless such exclusion is explicitly recited.Furthermore, references to “exemplary implementation” or “oneimplementation” of the present disclosure are not intended to beinterpreted as excluding the existence of additional implementationsthat also incorporate the recited features.

FIG. 1 is a perspective view of an exemplary lifting support device 100,and FIG. 2 is an enlarged perspective view of an exemplary actuationassembly 102 that may be used with lifting support device 100. In theexemplary implementation, lifting support device 100 includes a linearactuator 104 including a first end 106 and a second end 108. Liftingsupport device 100 also includes a support base 110. First end 106 oflinear actuator 104 is for supporting an object (not shown), and secondend 108 of linear actuator 104 is engaged with support base 110 suchthat linear actuator 104 is freely rotatable relative to support base110 in more than one axis. Moreover, in one implementation, second end108 is engaged with support base 110 with an interference fit. As such,although freely rotatable, the interference fit enables linear actuator104 to be selectively and statically oriented relative to support base110.

Lifting support device 100 further includes a gimbal mount device 112positioned at first end 106 of linear actuator 104. Gimbal mount device112 is for mounting the object to linear actuator 104. Morespecifically, gimbal mount device 112 enables the object to freelyrotate relative to first end 106 in more than one axis. As such, gimbalmount device 112 enables the object to be selectively oriented invarying positions to facilitate improved accessibility of the object fora user. In addition, lifting support device 100 includes a plurality ofbody segments 114 arranged telescopically with each other. The pluralityof body segments 114 facilitate forming lifting support device 100 witha compact design that is selectively extendable and retractable, as willbe explained in more detail below.

As described above, linear actuator 104 (shown in FIG. 1) is selectivelyactuatable in response to application of an external second load, otherthan a first load applied by at least the object, on linear actuator104. Referring to FIG. 2, actuation assembly 102 facilitates controllingactuation of linear actuator 104. Linear actuator 104 is actuated withany suitable power source that enables lifting support device 100 tofunction as described herein. For example, linear actuator 104 may beactuated pneumatically, hydraulically, or with an electric motor. Asshown, actuation assembly 102 includes a pressure reservoir 116 and apressure regulator 118 for pneumatically actuating linear actuator 104.Pressure reservoir 116 is positioned onboard lifting support device 100,which enables lifting support device 100 to be independently operablefrom a power source. Alternatively, lifting support device 100 receivespneumatic fluid from a power source independently located from liftingsupport device 100.

Actuation assembly 102 also includes a support plate 120 and a supportarm 122 extending from support plate 120. More specifically, supportplate 120 houses gimbal mount device 112, and support arm 122 is coupledto gimbal mount device 112. Support arm 122 further includes a free end124 for coupling to the object. As such, the object is indirectlycoupled to gimbal mount device 112, and capable of movement as desired,as described above.

In the exemplary implementation, lifting support device 100 furtherincludes a load sensor 126 positioned to determine application of afirst load on load sensor 126 by at least the object. For example, thefirst load includes the mass of the object and any mounting hardware orother devices positioned for inducing a static load on load sensor 126.As shown, the object is mounted in series with load sensor 126 viasupport arm 122, such that the first load applied to and determined byload sensor 126 includes the mass of the object and support arm 122. Assuch, as will be explained in more detail below, load sensor 126facilitates actuating linear actuator 104 when a second load is appliedto load sensor 126 at either the object or support arm 122. In analternative implementation, load sensor 126 is located at second end 108(shown in FIG. 1) of linear actuator 104. Locating load sensor 126 atsecond end 108 enables load sensor 126 to determine application of loadsat locations other than the object and support arm 122. As such, whenpositioned at second end 108, load sensor 126 facilitates actuatinglinear actuator 104 when the second load is applied to load sensor 126at the object, support arm 122, or along the plurality of body segments114 (shown in FIG. 1) of linear actuator 104.

Load sensor 126 is any sensing device that enables lifting supportdevice 100 to function as described herein. An exemplary load sensor 126includes, but is not limited to, a load cell device.

FIG. 3 is a schematic illustration of an exemplary electronics assembly128 that may be used with actuation assembly 102 (shown in FIG. 2). Inthe exemplary implementation, electronics assembly 128 includes loadsensor 126 and a controller 130 coupled in communication with loadsensor 126. Controller 130 includes a memory 132 and a processor 134,including hardware and software, coupled to memory 132 for executingprogrammed instructions. Processor 134 may include one or moreprocessing units (e.g., in a multi-core configuration) and/or include acryptographic accelerator (not shown). Controller 130 is programmable toperform one or more operations described herein by programming memory132 and/or processor 134. For example, processor 134 may be programmedby encoding an operation as executable instructions and providing theexecutable instructions in memory 132.

Processor 134 may include, but is not limited to, a general purposecentral processing unit (CPU), a microcontroller, a microprocessor, areduced instruction set computer (RISC) processor, an open mediaapplication platform (OMAP), an application specific integrated circuit(ASIC), a programmable logic circuit (PLC), and/or any other circuit orprocessor capable of executing the functions described herein. Themethods described herein may be encoded as executable instructionsembodied in a computer-readable medium including, without limitation, astorage device and/or a memory device. Such instructions, when executedby processor 134, cause processor 134 to perform at least a portion ofthe functions described herein. The above examples are exemplary only,and thus are not intended to limit in any way the definition and/ormeaning of the term processor.

Memory 132 is one or more devices that enable information such asexecutable instructions and/or other data to be stored and retrieved.Memory 132 may include one or more computer-readable media, such as,without limitation, dynamic random access memory (DRAM), synchronousdynamic random access memory (SDRAM), static random access memory(SRAM), a solid state disk, and/or a hard disk. Memory 132 may beconfigured to store, without limitation, executable instructions,operating systems, applications, resources, installation scripts and/orany other type of data suitable for use with the methods and systemsdescribed herein.

Instructions for operating systems and applications are located in afunctional form on non-transitory memory 132 for execution by processor134 to perform one or more of the processes described herein. Theseinstructions in the different implementations may be embodied ondifferent physical or tangible computer-readable media, such as memory132 or another memory, such as a computer-readable media (not shown),which may include, without limitation, a flash drive and/or thumb drive.Further, instructions may be located in a functional form onnon-transitory computer-readable media, which may include, withoutlimitation, smart-media (SM) memory, compact flash (CF) memory, securedigital (SD) memory, memory stick (MS) memory, multimedia card (MMC)memory, embedded-multimedia card (e-MMC), and micro-drive memory. Thecomputer-readable media may be selectively insertable and/or removablefrom controller 130 to permit access and/or execution by processor 134.In an alternative implementation, the computer-readable media is notremovable.

In operation, controller 130 is coupled in communication with the sourceof actuation for linear actuator 104 (e.g., pressure regulator 118(shown in FIG. 2)) to control actuation of linear actuator 104. Asdescribed above, controller 130 is also coupled in communication withload sensor 126, and selectively actuates linear actuator 104 inresponse to application of a second load (i.e., a temporary mass) onload sensor 126. More specifically, a value of the first load applied toload sensor 126 is a static load (i.e., a goal mass), and controller 130maintains linear actuator 104 in equilibrium when supporting only thefirst load. When the second load is applied to load sensor 126,controller 130 receives a signal from load sensor 126 that includes avalue of the second load relative to a value of the first load. Forexample, in one implementation, load sensor 126 is calibrated such thatthe value of the second load is only provided to controller 130. Morespecifically, the value of the first load is subtracted from the valueof a total load (i.e., combined values of the first load and the secondload) induced on load sensor 126 before a load report is provided tocontroller 130.

Controller 130 also selectively actuates linear actuator 104 only when adifference between the value of the first load and the value of thesecond load is greater than a predetermined threshold. Morespecifically, when load sensor 126 is calibrated as described above,controller 130 selectively actuates linear actuator 104 only when thevalue of the second load is greater than a predetermined threshold. Thepredetermined threshold is selected based on a desired actuationsensitivity of linear actuator 104. For example, the predeterminedthreshold is selected such that controller 130 only actuates linearactuator 104 when the second load is intentionally applied to loadsensor 126, thereby reducing the likelihood of inadvertent actuation oflinear actuator 104.

Moreover, controller 130 selectively actuates linear actuator 104 basedon whether the second load is a positive load or a negative load. Apositive load generally results from a downward external force appliedto load sensor 126, and a negative load generally results from an upwardexternal force applied to load sensor 126. As such, a positive loadincreases the value of the total load applied to load sensor 126 (i.e.,goal mass+temporary mass=positive change in mass), and a negative loaddecreases the value of the total load applied to load sensor 126 (i.e.,goal mass+temporary mass=negative change in mass). Controller 130 thendetermines how to actuate linear actuator 104 based on whether apositive or a negative change in mass is detected by load sensor 126.More specifically, controller 130 causes linear actuator 104 to extendwhen the second load is a negative load, and causes linear actuator 104to retract when the second load is a positive load. In addition,controller 130 varies the rate of extension and retraction of linearactuator 104 proportionally as a function of the value of the secondload. For example, controller 130 extends and retracts linear actuator104 at a faster rate as the value of the second load increases. As such,linear actuator 104 responsively adapts to perceived urgency based onthe value of the second load.

In the exemplary implementation, electronics assembly 128 also includesan angling sensor 136 for determining an orientation and angling oflinear actuator 104 relative to a vector of gravity. Angling sensor 136may be any sensor that enables lifting support device 100 to function asdescribed herein. Exemplary angling sensors include, but are not limitedto, an accelerometer and a gyroscopic sensor. In an alternativeimplementation, load sensor 126 is a multi-axis load cell.

When lifting support device 100 is not in a purely vertical state, thevalue of the first load will be less than its value at calibration ofload sensor 126. As such, angling sensor 136 operates eithercontinuously or periodically to sample and detect the orientation oflinear actuator 104 relative to the vector of gravity, and is incommunication with controller 130 for compensating for changes in thedetected load. In addition, controller 130 restricts actuation of linearactuator 104 when the angling of linear actuator 104 is greater than amaximum tilt angle. The maximum tilt angle is selected based on an angleof linear actuator 104 relative to the vector of gravity that willresult in a zero load from the first load being applied to load sensor126. Application of a zero load at an angle greater than the maximumtilt angle results in controller 130 initiating a paused error state,such that linear actuator 104 is not selectively extendable orretractable. The paused error state is lifted when the angle of linearactuator 104 returns to less than the maximum tilt angle.

Controller 130 also maintains linear actuator 104 in equilibrium whenthe second load is applied at a rate greater than a predeterminedthreshold. More specifically, application of the second load at a rategreater than a predetermined threshold is indicative of an abrupt andinadvertent strike on lifting support device 100 (e.g., a strike from afalling object). As such, controller 130 is able to distinguish aninadvertent strike from deliberate actuation-causing movement to reducethe likelihood of inadvertence actuation of lifting support device 100.

A method of controlling operation of linear actuator 104 is alsoprovided. The method includes maintaining linear actuator 104 inequilibrium when supporting a first load, determining application of asecond load on linear actuator 104 (i.e., load sensor 126 coupled tolinear actuator 104), selectively actuating linear actuator 104 inresponse to application of the second load on linear actuator 104.

In one implementation, selectively actuating linear actuator 104includes actuating linear actuator 104 only when a difference between avalue of the first load and a value of the second load is greater than apredetermined threshold.

The method also includes determining angling of linear actuator 104relative to a vector of gravity, and adjusting a value of the first loadbased on the angling of linear actuator 104. Further, the methodincludes restricting actuation of linear actuator 104 when the anglingof linear actuator 104 is greater than a maximum tilt angle.

In some implementations, selectively actuating the linear actuatorincludes causing linear actuator 104 to extend when the second loadapplied to linear actuator 104 is a negative load, and causing linearactuator 104 to retract when the second load applied to linear actuator104 is a positive load. Further, the method includes varying a rate ofextension and retraction of linear actuator 104 proportionally as afunction of the value of the second load. Moreover, selectivelyactuating linear actuator 104 includes maintaining linear actuator 104in equilibrium when the second load is applied at a rate greater than apredetermined threshold.

This written description uses examples to disclose variousimplementations, including the best mode, and also to enable any personskilled in the art to practice the various implementations, includingmaking and using any devices or systems and performing any incorporatedmethods. The patentable scope of the disclosure is defined by theclaims, and may include other examples that occur to those skilled inthe art. Such other examples are intended to be within the scope of theclaims if they have structural elements that do not differ from theliteral language of the claims, or if they include equivalent structuralelements with insubstantial differences from the literal language of theclaims.

What is claimed is:
 1. A method of controlling operation of a linearactuator, said method comprising: maintaining the linear actuator inequilibrium when supporting a first load; determining application of asecond load on the linear actuator; and selectively actuating the linearactuator in response to application of the second load on the linearactuator.
 2. The method in accordance with claim 1, wherein selectivelyactuating the linear actuator comprises actuating the linear actuatoronly when a difference between a value of the first load and a value ofthe second load is greater than a predetermined threshold.
 3. The methodin accordance with claim 1 further comprising: determining angling ofthe linear actuator relative to a vector of gravity; and adjusting avalue of the first load based on the angling of the linear actuator. 4.The method in accordance with claim 3 further comprising restrictingactuation of the linear actuator when the angling of the linear actuatoris greater than a maximum tilt angle.
 5. The method in accordance withclaim 1, wherein selectively actuating the linear actuator comprises:causing the linear actuator to extend when the second load applied tothe linear actuator is a negative load; and causing the linear actuatorto retract when the second load applied to the linear actuator is apositive load.
 6. The method in accordance with claim 5 furthercomprising varying a rate of extension and retraction of the linearactuator proportionally as a function of the value of the second load.7. The method in accordance with claim 1, wherein selectively actuatingthe linear actuator comprises maintaining the linear actuator inequilibrium when the second load is applied at a rate greater than apredetermined threshold.
 8. A computer-readable storage media havingcomputer-executable instructions embodied thereon for use in controllingoperation of a linear actuator, wherein, when executed by at least oneprocessor, the computer-executable instructions cause the processor to:maintain the linear actuator in equilibrium when supporting a firstload; determine application of a second load on the linear actuator; andselectively actuate the linear actuator in response to application ofthe second load on the linear actuator.
 9. The computer-readable storagemedia in accordance with claim 8, wherein the computer-executableinstructions further cause the processor to actuate the linear actuatoronly when a difference between a value of the first load and a value ofthe second load is greater than a predetermined threshold.
 10. Thecomputer-readable storage media in accordance with claim 8, wherein thecomputer-executable instructions further cause the processor to:determine angling of the linear actuator relative to a vector ofgravity; and adjust a value of the first load based on the angling ofthe linear actuator.
 11. The computer-readable storage media inaccordance with claim 10, wherein the computer-executable instructionsfurther cause the processor to restrict actuation of the linear actuatorwhen the angling of the linear actuator is greater than a maximum tiltangle.
 12. The computer-readable storage media in accordance with claim8, wherein the computer-executable instructions further cause theprocessor to: cause the linear actuator to extend when the second loadapplied to the linear actuator is a negative load; and cause the linearactuator to retract when the second load applied to the linear actuatoris a positive load.
 13. The computer-readable storage media inaccordance with claim 8, wherein the computer-executable instructionsfurther cause the processor to maintain the linear actuator inequilibrium when the second load is applied at a rate greater than apredetermined threshold.
 14. The method in accordance with claim 1further comprising determining application of the second load with aload cell device.
 15. The method in accordance with claim 4 furthercomprising initiating a paused error state when a zero load is appliedat an angle greater than the maximum tilt angle.
 16. The method inaccordance with claim 5 further comprising extending the linear actuatorto increase the height of an object coupled to the linear actuatorrelative to the ground when the second load is a negative load, andretracting the linear actuator to decrease the height of the objectrelative to the ground when the second load is a positive load.
 17. Themethod in accordance with claim 6, wherein varying a rate of extensioncomprises extending and retracting the linear actuator at a faster rateas the value of the second load increases.
 18. The computer-readablestorage media in accordance with claim 11, wherein thecomputer-executable instructions further cause the processor to initiatea paused error state when a zero load is applied at an angle greaterthan the maximum tilt angle.
 19. The computer-readable storage media inaccordance with claim 12, wherein the computer-executable instructionsfurther cause the processor to extend the linear actuator to increasethe height of an object coupled to the linear actuator relative to theground when the second load is a negative load, and retract the linearactuator to decrease the height of the object relative to the groundwhen the second load is a positive load.
 20. The computer-readablestorage media in accordance with claim 8, wherein thecomputer-executable instructions further cause the processor to vary arate of extension by extending and retracting the linear actuator at afaster rate as the value of the second load increases.